Yes, the hub is identical
Same 5x114.3 PCD and same 60.1 mm centre bore: wheels from Toyota RAV4 V bolt on and centre on Toyota Sienna without rings. You still need to check the offset and tyres, detailed below.
≈: width estimated from the original tyre size.
Wheel by wheel: offset and tyres
Each original wheel from Toyota RAV4 V is compared with the one from Toyota Sienna of the same diameter: how much closer the wheel gets to the shock absorber or how far it sticks out of the wheel arch, and whether the tyre keeps the same overall diameter.
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7Jx17 ET35 · 225/65R17 — Risk of rubbing
Compared with the original 6.5Jx17 ET45 on Toyota Sienna: shock absorber side −3.7 mm, wheel arch side +16.4 mm, tyre diameter +1.5 %.
Check in detail
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7Jx18 ET35 · 225/60R18
Toyota Sienna has no 18-inch original wheel in our data: check the approved fitments and caliper clearance.
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7.5Jx19 ET40 · 235/55R19
Toyota Sienna has no 19-inch original wheel in our data: check the approved fitments and caliper clearance.
Before fitting the wheels
An identical hub is not enough: offset, width and diameter change the position of the wheel, and larger calipers can touch a smaller wheel. Original wheels often use bolts or nuts with a specific seat: keep the fixings intended for the wheel, with the thread of Toyota Sienna (Ecrous - 12x1.50), tightened to the torque shown on its vehicle page. Finally, check that the size is among the approved fitments for your vehicle. This comparison is for guidance only: have the fitting approved by a professional.
And the other way round: wheels from Toyota Sienna on Toyota RAV4 V?